在刚性双连杆机械臂控制方案的基础上，提出了柔性双连杆机械臂的轨迹跟踪和振动抑制的脉冲力矩控制方案，针对竖直平面双连杆柔性机械臂进行了数值仿真和实验研究。; In this paper, the method of the impulse torques control is established for vertical planar two-link flexible manipulators on the basis of rigid manipulators control. The variables of two-link manipulators are rest rained w hen the t ip trajectory of manipulator is being tracked with this method. Finally, the results of numerical emulation and experiment are show n in the paper.